Three-dimension collision-free trajectory planning of UAVs based on ADS-B information in low-altitude urban airspace  

作　　者：Chao DONG Yifan ZHANG Ziye JIA Yiyang LIAO Lei ZHANG Qihui WU 

机构地区：[1]The Key Laboratory of Dynamic Cognitive System of Electromagnetic Spectrum Space,Ministry of Industry and Information Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China [2]National Mobile Communications Research Laboratory,Southeast University,Nanjing 211111,China

出　　处：《Chinese Journal of Aeronautics》2025年第2期274-285,共12页中国航空学报(英文版)

基　　金：supported by the National Key R&D Program of China(No.2022YFB3104502);the National Natural Science Foundation of China(No.62301251);the Natural Science Foundation of Jiangsu Province of China under Project(No.BK20220883);the open research fund of National Mobile Communications Research Laboratory,Southeast University,China(No.2024D04);the Young Elite Scientists Sponsorship Program by CAST(No.2023QNRC001).

摘　　要：The environment of low-altitude urban airspace is complex and variable due to numerous obstacles,non-cooperative aircraft,and birds.Unmanned Aerial Vehicles(UAVs)leveraging environmental information to achieve three-dimension collision-free trajectory planning is the prerequisite to ensure airspace security.However,the timely information of surrounding situation is difficult to acquire by UAVs,which further brings security risks.As a mature technology leveraged in traditional civil aviation,the Automatic Dependent Surveillance-Broadcast(ADS-B)realizes continuous surveillance of the information of aircraft.Consequently,we leverage ADS-B for surveillance and information broadcasting,and divide the aerial airspace into multiple sub-airspaces to improve flight safety in UAV trajectory planning.In detail,we propose the secure Sub-airSpaces Planning(SSP)algorithm and Particle Swarm Optimization Rapidly-exploring Random Trees(PSO-RRT)algorithm for the UAV trajectory planning in law-altitude airspace.The performance of the proposed algorithm is verified by simulations and the results show that SSP reduces both the maximum number of UAVs in the sub-airspace and the length of the trajectory,and PSO-RRT reduces the cost of UAV trajectory in the sub-airspace.

关 键 词：Three-dimension trajectory planning of UAV Collision avoidance Sliding window ADS-B Low-altitude urban airspace 

分 类 号：V27[航空宇航科学与技术—飞行器设计]